a    ,alpha ,d    ,theta,rotDir,maxAngle ,minAngle ,AxisVelocity
500  ,-90   ,1045 ,0    ,-1    ,+185     ,-185     ,156         
1300 ,0     ,0    ,0    , 1    ,+35      ,-155     ,156         
55   ,+90   ,0    ,-90  , 1    ,+154     ,-130     ,156         
0    ,-90   ,-1025,0    , 1    ,+350     ,-350     ,330         
0    ,+90   ,0    ,0    , 1    ,+130     ,-130     ,330         
0    ,+180  ,-300 ,180  , 1    ,+350     ,-350     ,615         
